Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment

Author

Chong, Z.J. ; Qin, B. ; Bandyopadhyay, T. ; Ang, M.H. ; Frazzoli, Emilio ; Rus, Daniela

Author_Institution

Nat. Univ. of Singapore, Singapore, Singapore

fYear

2013

fDate

6-10 May 2013

Firstpage

1554

Lastpage

1559

Abstract

This paper presents a precise localization algorithm for vehicles in 3D urban environment with only one 2D LIDAR and odometry information. A novel idea of synthetic 2D LIDAR is proposed to solve the localization problem on a virtual 2D plane. A Monte Carlo Localization scheme is adopted for vehicle position estimation, based on synthetic LIDAR measurements and odometry information. The accuracy and robustness of the proposed algorithm are demonstrated by performing real time localization in a 1.5 km driving test around the NUS campus area.

Keywords

Monte Carlo methods; distance measurement; mobile robots; optical radar; path planning; pose estimation; position measurement; robot vision; 3D urban environment; Monte Carlo localization scheme; NUS campus area; mobile robot localization; odometry information; precise vehicle localization algorithm; synthetic 2D LIDAR; synthetic LIDAR measurements; vehicle position estimation; virtual 2D plane; Estimation; Feature extraction; Laser radar; Roads; Three-dimensional displays; Urban areas; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6630777

Filename

6630777